#ifndef MOTOR_COMMAND_H_
#define MOTOR_COMMAND_H_
#include "main.h"
void motor_speed_test(uint8_t *data,int len);
void can_send(uint32_t motor_ID,uint8_t *data,int len);
void can2_send(uint32_t motor_ID,uint8_t *data,int len);
uint8_t CRC_cal(uint32_t motor_ID,uint8_t *data,int len);
void motor_speed_control(uint32_t motor_ID,int dir,uint8_t acc,uint16_t speed,int can);
void motor_speed_e_stop(uint32_t motor_ID,int can);
void motor_speed_command(uint32_t motor_ID,uint8_t acc,int16_t speed,int can);
void motor_speed_read(uint32_t motor_ID,int can);
void motor_speed_read_all();

extern uint32_t MOTOR_ID_1,MOTOR_ID_2,MOTOR_ID_3,MOTOR_ID_4;
extern int16_t MOTOR1_Speed,MOTOR2_Speed,MOTOR3_Speed,MOTOR4_Speed;
#endif
